// --------------------------------------------------------------------------------------------------------------------
// <copyright file="HDPWithPoseMessage.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
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namespace Microsoft.Robotics.Navigation.Runtime.Localization
{
    using System.Runtime.Serialization;
    using Microsoft.Robotics.Navigation.Perception;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;

    /// <summary>
    /// Agent message that contains an hdp along with a global pose of that hdp
    /// </summary>
    /// <typeparam name="TObservation">A kind of horizontal depth profile (kinect or laser).</typeparam>
    [DataContract]
    public class HDPwithPoseMessage<TObservation> : AgentMessage where TObservation : IHorizontalDepthProfile
    {
        /// <summary>
        /// Initializes a new instance of the <see cref="HDPwithPoseMessage{TObservation}"/> class
        /// </summary>
        /// <param name="pose">The pose</param>
        /// <param name="hdp">The hdp</param>
        /// <param name="frameIndex">frame index</param>
        /// <param name="initiatingMessage">The message that triggered the creation of this one</param>
        public HDPwithPoseMessage(Pose2D pose, TObservation hdp, int frameIndex, AgentMessage initiatingMessage)
            : base(initiatingMessage)
        {
            this.Pose = pose;
            this.HDP = hdp;
            this.FrameIndex = frameIndex;
        }

        /// <summary>
        /// Gets 2D pose of the hdp
        /// </summary>
        [DataMember]
        public Pose2D Pose { get; private set; }

        /// <summary>
        /// Gets The observed hdp
        /// </summary>
        [DataMember]
        public TObservation HDP { get; private set; }

        /// <summary>
        /// Gets the frame index of the message
        /// </summary>
        [DataMember]
        public int FrameIndex { get; private set; }
    }
}
